Inventory storage and retrieval system and method with guidance for load-handling vehicle

Abstract

An inventory storage and retrieval system and method are provided for a shipping or storage facility. In an embodiment, the system includes: (a) a mobile computer and radio on a load-handing vehicle; (b) sensors on the vehicle to determine the ground location and orientation of the vehicle; (c) encoders that determine the position of a lifting mechanism relative to a chassis of the vehicle; and (d) a base computer and radio that communicates with the vehicle. The system maintains an inventory database of items and their respective storage locations in three dimensions as a result of the loading activity of the vehicle. The data can be used to guide the vehicle for ground movement generally to a storage location, appropriately orient the vehicle, and then to move the lifting mechanism of the vehicle to deposit or retrieve the item at a particular storage location.

1. A system for maintaining an inventory of multiple items in a facility in which a load-handling vehicle has a chassis maneuverable on a ground and a lifting device that is movable relative to the chassis, the vehicle being operable to move a selected one or more of the items from one storage location to another storage location, the system comprising:
 means for storing a database reflecting a storage location relative to three-dimensional coordinates and item identification information for each of the items; 
 means for determining a desired position and orientation of the vehicle to provide access to the storage location corresponding to a selected one of the items; 
 means for detecting a present orientation and location of the chassis of the vehicle relative to the three dimensional coordinates; 
 means for maneuvering the vehicle so that the present position and orientation matches the desired position and orientation information; 
 means for detecting a position of the lifting device relative to the chassis; 
 means for determining a position of the lifting device relative to the three-dimensional coordinates based on the three-dimensional position of the chassis and the position of the lifting device relative to the chassis; and 
 means for updating the database to set the three-dimensional storage location of the item as the three-dimensional location of the lifting device when the lifting device unlatches the item. 
 
     
     
       2. The system of  claim 1 , wherein the means for storing a database is a personal computer. 
     
     
       3. The system of  claim 2 , wherein the personal computer is located at a base station. 
     
     
       4. The system of  claim 1 , wherein the means for detecting the present location of the chassis of the vehicle includes a global positioning system. 
     
     
       5. The system of  claim 4 , wherein the global positioning system includes:
 a global positioning system receiver and corresponding antenna located at a base station; and 
 a mobile global positioning system receiver and corresponding antenna located on the vehicle. 
 
     
     
       6. The system of  claim 5 , wherein the vehicle is equipped with at least one encoder to detect a position of a lifting device relative to the chassis of the vehicle. 
     
     
       7. The system of  claim 6 , wherein the at least one encoder is comprised of an encoder selected from a group of mechanical, magnetic, or optical encoders. 
     
     
       8. The system of  claim 1 , wherein the means for detecting the orientation of the vehicle is a gyroscope. 
     
     
       9. The system of  claim 1 , wherein the means for detecting the orientation of the vehicle is a compass. 
     
     
       10. The system of  claim 1 , wherein the means for maneuvering the vehicle involves a human operator steering the vehicle. 
     
     
       11. The system of  claim 1 , wherein the means for updating the database includes a mobile computer located on the vehicle in communication with a computer located at a base station. 
     
     
       12. The system of  claim 11 , wherein the mobile computer communicates with the base computer via radio frequency technology.